US5040630A - Power steering system of motor drive type - Google Patents

Power steering system of motor drive type Download PDF

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Publication number
US5040630A
US5040630A US07/293,037 US29303789A US5040630A US 5040630 A US5040630 A US 5040630A US 29303789 A US29303789 A US 29303789A US 5040630 A US5040630 A US 5040630A
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US
United States
Prior art keywords
motor
current
motor current
mean
steering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US07/293,037
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English (en)
Inventor
Mitsuharu Morishita
Kosaku Uota
Kazuhisa Nishino
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Assigned to MITSUBISHI DENKI KABUSHIKI KAISHA, 2-3, MARUNOUCHI 2-CHOME, CHIYODA-KU, TOKYO, JAPAN reassignment MITSUBISHI DENKI KABUSHIKI KAISHA, 2-3, MARUNOUCHI 2-CHOME, CHIYODA-KU, TOKYO, JAPAN ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: MORISHITA, MITSUHARU, NISHINO, KAZUHISA, UOTA, KOSAKU
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Publication of US5040630A publication Critical patent/US5040630A/en
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0469—End-of-stroke control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input

Definitions

  • This invention related to a power steering system designed for an automobile, more particularly, to a power steering system with a motor which provides auxiliary power for a steering system to assist in steering.
  • a conventional system of the above described type is arranged to have a motor which provides auxiliary power used to assist in steering for a steering shaft of a rack steering gear via a speed reduction system by way of a transfer mechanism such as a gear or a belt.
  • the above described coventional system involves the problem that the motor generates excessive heat due to the considerable amount of current continuously flowing therethrough and this may in turn generate smoke or unpleasant smells from the motor and may eventually cause critical damage if the motor suffers from burning at such times as when the steering wheel is held for a long period of time at its extreme positions when fully rotated while the vehicle is stationary and when a lot of time is used in putting a car into a garage.
  • an object of this invention is to provide a power steering system of a motor drive type which will never encounter the above problems of excessive heat being generated by the motor, smoke emanating from the motor, burning of the motor or the like.
  • a power steering system in accordance with this invention is characterized in comprising means for regulating a maximum level of the motor current in relation to the mean motor current measured at every predetermined intervals of time during a period of continuous flow of current through the motor exceeding a predetermined period of time.
  • FIG. 1 is a schematic block diagram of the power steering system in accordance with this invention.
  • FIG. 2 is a schematic block diagram of the control unit for the power steering in accordance with this invention.
  • FIG. 3 is a graph in accordance with this invention showing the relationship between steering torque and motor current control
  • FIG. 4 is a graph in accordance with this invention showing the relationship between a vehicle speed, motor current and electrical voltage applied to an electromagnetic clutch
  • FIG. 5 is a graph in accordance with this invention showing the transition of indicated maximum motor current controlled on the basis of the mean motor current;
  • FIG. 6 shows a main routine of a control unit of this invention.
  • FIG. 7 shows a sub routine of a control unit of this invention.
  • a numeral 1 denotes a steering wheel which is manually turned by a driver
  • numeral 3 denotes a torque sensor connected to the steering wheel 1 via a first steering shaft 2a and adapted to output an electrical signal indicating the magnitude of torque applied to the steering wheel
  • numeral 16 denotes a worm wheel connected to the torque sensor 3 via a second steering shaft 2b
  • numeral 4a denotes a first universal joint connected to the worm wheel 16 via a third steering shaft 2c
  • numeral 4b denotes a second universal joint connected to the first universal joint 4a via a fourth steering shaft 2d
  • numeral 5 denotes a pinion shaft physically connected to the seocnd universal joint 4b
  • numeral 6 denotes a shaft with a rack steering gear 6a meshing with the pinion shaft 5
  • numeral 7a denotes one ball joint connecting one end of the rack shaft 6 with one of tie rods 8a
  • numeral 7b denotes the other ball joint connecting the other end of the rack shaft 6 with
  • a numeral 9a denotes measuring means for determining steering torque on the basis of an input signal from the torque sensor 3
  • numeral 9b denotes measuring means for determining vehicle speed on the basis of an input signal from the speed sensor
  • numeral 9c denotes measuring means for determining the amount of electrical current flowing through the motor 13 on the basis of an output signal from a current sensor provided in a power element 9i for actuating the motor
  • numeral 9d denotes calculating means for calculating a mean value for the motor current flowing through the motor during a predetermined period of time on the basis of an output signal from the measuring means 9c
  • numeral 9e denotes storage means in which data on the current to be applied to the motor are stored in association with values for the steering torque, the vehicle speed and the mean motor current
  • numeral 9f denotes reading means for reading the current data from the storage means 9e on the basis of the measured steering torque, the measured vehicle speed and the calculated mean motor current
  • numeral 9g denotes
  • FIGS. 3-6 In reading the following description of the operation of the above described system.
  • the clutch 14 is energized or turned on, which results in mechanical connection of the motor 13 to the worm shaft 15.
  • the control unit 9 controls the motor current flowing through the motor 13 as viewed in FIG. 3 on the basis of the torque applied to the steering wheel 1.
  • the motor 13 starts to be actuated at the point a; then the motor current increases linearly; and then the motor current levels off at 100 percent of the rated motor current after the torque exceeds the point b.
  • the output torque of the motor 13 is substantially proportional to the magnitude of the motor current applied thereto. Since an increase in torque applied to the steering wheel above the point a of FIG. 3, at which point the motor 13 is turned on, leads to an increase in the motor current, any increase in torque applied to the steering wheel leads to an increase in the output torque of the motor applied to the worm shaft 15.
  • the motor 13 applies auxiliary torque to the steering shafts 2a-2d via the electromagnetic clutch 14, the worm shaft 15 and the worm wheel 16 in response to the torque applied to the steering wheel 1 by a driver.
  • the amount of torque that needs to be applied to the steering wheel 1 can be reduced by the same magnitude as that of the auxiliary torque supplied by the motor.
  • the motor current is monitored on a regular basis, for example, every 1-100 msec, and these monitored values of the motor current are accumulated. On the basis of this accumulated data, the mean motor current is calculated on a regular basis, for example, every 30 sec -3 min. If the mean motor current is above, for example, 60-80 percent of the rated motor current, a maximum motor current which is indicated by the control unit 9 and by which the maximum level of the motor current actually flowing through the motor is regulated is reduced by a predetermined value, for example, 5-10 percent of the rated motor current, as shown on the lefthand side of FIG. 5. If the mean motor current of the next period is still above the aforementioned value, a further reduction by the same predetermined value in the indicated maximum motor current is effected.
  • the mean motor current is below, for example, 50 percent of the rated motor current, at which level continuous flow of current would never cause any damage to the motor 13 or the power element 9i in the control unit 9.
  • the mean motor current so calculated is below, for example, 40 percent of the rated motor current
  • the maximum motor current indicated is raised by the same predetermined value, as shown on the righthand side of FIG. 5.
  • the mean motor current remains low, the indicated maximum motor current is repeatedly raised until the initially indicated maximum motor current is attained and the current is held at this initial value. If the mean motor current calculated lies in between, for example, 30 and 70 percent of the rated motor current, the indicated maximum motor current is maintained at its existing level. What has been explained so far is directed to the situation where the vehicle is stationary.
  • the motor current is controlled as shown in FIG. 4 on the basis of a value I M1 which is stored in advance in association with the steering torque and the vehicle speed, that is, the value I M1 is defined in association with the steering torque, the vehicle speed and the mean current under the condition that the vehicle speed is lower than that expressed by the point c in FIG.
  • the current supplied to the motor is reduced as the vehicle speed increases under the condition that the vehicle speed lies in between the point c and the point d (indicating speed V 2 ); the value I M1 is fixed at a constant value I OF under the condition that the vehicle speed lies in between the point d and the point e (indicating speed V 1 ); and under the condition that the vehicle speed is greater than the point e, no current is supplied to the motor 13 or the electromagnetic clutch 14, which is followed by disconnection of the motor 13 from the worm shaft 15 whereupon the driver must handle the steering wheel 1 without the help of the auxiliary torque normally provided by the motor.
  • a variable T S is defined as the value of the measured steering torque in step 22, a variable V being defined as the value of the measured vehicle speed in step 23.
  • a variable I MS is defined as the value of the measured motor current in step 24.
  • a variable I M (MAX) is defined as the indicated maximum motor current which is determined on the basis of the mean motor current in the way shown in FIG. 7.
  • a variable I M1 is defined as the motor current value which is read from the storage 9e with reference to the measured steering torque, the measured vehicle speed and the calculated mean motor current in step 26.
  • step 37 comparison between I M (MAX) defined in step 25 and the variable I M1 defined in step 26 is made in step 37. If I M (MAX) is not less than I M1 , then further judgment is made in step 27. Otherwise, the value of variable I M (MAX) is moved to the variable I M1 in step 38. Then, judgement is made in step 27 on the variable I MO which was defined in the last cycle and, as long as the variable I MO is not zero, further judgement is made in step 28 on the variable I MS which was defined as the measured motor current in this cycle. As long as the variable I MS is not zero, further judgement is made on the variable V in steps 29 and 30. If V ⁇ V 2 , the variable I M is defined as the read current value of the variable I MI in step 31.
  • variable I M indicates the amount of electrical current to be applied to the motor 13.
  • the clutch 14 is energized in step 32 and then the variable I MO is defined as the value of the variable I M in step 33, the process of the control unit 9 then going back to step 22.
  • a variable I M (AV) is defined in step 41 as the result of the calculation of the mean motor current of the variable I M (AV) in the last cycle which is more than the value of the variable I M . Judgment is then made in step 42 as to whether the predetermined period of time (T) has passed. The process returns to the main routine as shown in FIG. 6 provided that this amount of time (T) has not yet passed. Otherwise, further judgment is made on the variable I M (AV) in steps 43 and 44.
  • variable I M (AV) If the value of the variable I M (AV) lies between 30 and 60 percent of the rated motor current multiplied by T, the variable I M (AV) is cleared in step 45 and then the process returns to the main routine. If the judgment reveals that the variable I M (AV) is below 30 percent of the rated motor current multiplied by T, the indicated maximum motor current is raised by 5 percent of the rated motor current in step 46 and then the variable I M (AV) is cleared in step 45, whereupon the process returns to the main routine. If the judgment shows that the variable I M (AV) is above 60 percent of the rated motor current multiplied by T, the indicated maximum motor current is reduced by 5 percent of the rated motor current in step 47 and the variable I M (AV) is cleared, the process then returns to the main routine.
  • the indicated maximum motor current is varied in response to the mean motor current calculated as long as the motor current continues to flow in order to regulate the maximum level of motor current so that the motor does not encounter any problems with respect to overheating, smoking or burning when, for example, the steering wheel is held for a long time in an extreme position while the vehicle is stationary.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
US07/293,037 1988-01-20 1989-01-03 Power steering system of motor drive type Expired - Lifetime US5040630A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP1126288A JPH0651474B2 (ja) 1988-01-20 1988-01-20 モータ駆動式パワーステアリング装置
JP63-11262 1988-01-20

Publications (1)

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US5040630A true US5040630A (en) 1991-08-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
US07/293,037 Expired - Lifetime US5040630A (en) 1988-01-20 1989-01-03 Power steering system of motor drive type

Country Status (5)

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US (1) US5040630A (ja)
EP (1) EP0325148B1 (ja)
JP (1) JPH0651474B2 (ja)
KR (1) KR930005855B1 (ja)
DE (1) DE68915292T2 (ja)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5150021A (en) * 1989-09-18 1992-09-22 Jidosha Kiki Co., Ltd. Method of controlling electric power steering apparatus
US5238079A (en) * 1991-02-20 1993-08-24 Israel Aircraft Industries Ltd. Steering system for vehicles
US5299648A (en) * 1991-07-22 1994-04-05 Jidosha Kiki Co., Ltd. Driver current limiting method in electric power steering apparatus
US5299650A (en) * 1991-09-18 1994-04-05 Mitsubishi Denki Kabushiki Kaisha Motor-driven power steering apparatus and method
US5327986A (en) * 1992-02-04 1994-07-12 Unisia Jecs Corporation Electric motor drive-type power steering system
US5517415A (en) * 1994-10-26 1996-05-14 Trw Inc. Method and apparatus for detecting a motor stall condition in an electric assist steering system
US5602735A (en) * 1993-10-26 1997-02-11 Mitsubishi Denki Kabushiki Kaisha Control apparatus for motor-driven power steering system in which power suppy to an electric clutch is reduced upon detection of a malfunction
US5667033A (en) * 1994-12-21 1997-09-16 Koyo Seiko Co., Ltd. Electric power steering system
US6009364A (en) * 1992-10-09 1999-12-28 Mitsubishi Denki Kabushiki Kaisha Power steering control apparatus for motor vehicle
US6029767A (en) * 1997-11-18 2000-02-29 Mitsubishi Denki Kabushiki Kaisha Electric power steering system
US6148949A (en) * 1997-08-27 2000-11-21 Honda Giken Kogyo Kabushiki Kaisha Electric power steering apparatus
US6694237B2 (en) 2001-08-30 2004-02-17 Mitsubishi Denki Kabushiki Kaisha Steering control device
US20040227481A1 (en) * 2003-05-12 2004-11-18 Denso Corporation Electric motor drive apparatus and motor-driven power steering system
US20050205345A1 (en) * 2004-02-16 2005-09-22 Denso Corporation Electric power steering device equipped with automatic steering function
CN102216145A (zh) * 2009-12-11 2011-10-12 株式会社昭和 电动动力转向装置、电动动力转向装置的控制方法和程序
CN103112492A (zh) * 2013-02-02 2013-05-22 哈尔滨工业大学 一种新型电动助力转向控制装置及驱动方法
US20140343770A1 (en) * 2013-05-14 2014-11-20 Ford Global Technologies, Llc Powertrain for electric vehicles
CN112865622A (zh) * 2019-11-28 2021-05-28 佳能株式会社 电机控制装置和图像形成装置

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0423737B1 (en) * 1989-10-16 1994-06-01 Toyoda Koki Kabushiki Kaisha Power steering apparatus with electric motor
JP3945870B2 (ja) * 1997-09-17 2007-07-18 株式会社ジェイテクト 電動パワーステアリング装置
JP3991416B2 (ja) * 1998-01-23 2007-10-17 日本精工株式会社 電動パワーステアリング装置の制御装置
JP4064600B2 (ja) * 2000-05-08 2008-03-19 三菱電機株式会社 電動パワーステアリング装置
KR100468491B1 (ko) * 2000-09-15 2005-01-27 주식회사 만도 전동 파워 스티어링 시스템에서 모터의 과열 방지 방법
JP2002238293A (ja) 2001-02-14 2002-08-23 Mitsubishi Electric Corp モータ制御装置
JP3931181B2 (ja) * 2004-06-02 2007-06-13 三菱電機株式会社 電動パワーステアリング装置
DE102009013246B4 (de) * 2009-03-14 2014-02-13 Audi Ag Verfahren zum Bereitstellen einer Information über den Betriebszustand eines Lenkungssystems
JP5043981B2 (ja) 2010-04-26 2012-10-10 三菱電機株式会社 電動パワーステアリング装置
WO2013118339A1 (ja) * 2012-02-06 2013-08-15 日本精工株式会社 電動パワーステアリング装置
JP7047686B2 (ja) * 2018-09-18 2022-04-05 株式会社デンソー モータ駆動装置、及び操舵システム
JP7404004B2 (ja) * 2019-09-10 2023-12-25 株式会社ジェイテクト 操舵制御装置

Citations (4)

* Cited by examiner, † Cited by third party
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US4532567A (en) * 1983-02-18 1985-07-30 General Motors Corporation Electric power steering stall protection circuit
US4591014A (en) * 1982-10-14 1986-05-27 Aisin Seiki Kabushiki Kaisha Electric power steering equipment
US4598787A (en) * 1984-11-30 1986-07-08 Trw Inc. Control apparatus for power assist steering system
US4611682A (en) * 1983-08-08 1986-09-16 Aisin Seiki Kabushiki Kaisha Motor-driven power steering system

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2522605A2 (fr) * 1982-03-04 1983-09-09 Peugeot Aciers Et Outillage Dispositif d'assistance de direction pour vehicule automobile
EP0276005B1 (en) * 1987-01-23 1991-07-17 Mitsubishi Denki Kabushiki Kaisha Motor-driven type power steering control device
JP2528119B2 (ja) * 1987-04-20 1996-08-28 本田技研工業株式会社 電動機式動力舵取装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4591014A (en) * 1982-10-14 1986-05-27 Aisin Seiki Kabushiki Kaisha Electric power steering equipment
US4532567A (en) * 1983-02-18 1985-07-30 General Motors Corporation Electric power steering stall protection circuit
US4611682A (en) * 1983-08-08 1986-09-16 Aisin Seiki Kabushiki Kaisha Motor-driven power steering system
US4598787A (en) * 1984-11-30 1986-07-08 Trw Inc. Control apparatus for power assist steering system

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5150021A (en) * 1989-09-18 1992-09-22 Jidosha Kiki Co., Ltd. Method of controlling electric power steering apparatus
US5238079A (en) * 1991-02-20 1993-08-24 Israel Aircraft Industries Ltd. Steering system for vehicles
US5299648A (en) * 1991-07-22 1994-04-05 Jidosha Kiki Co., Ltd. Driver current limiting method in electric power steering apparatus
US5299650A (en) * 1991-09-18 1994-04-05 Mitsubishi Denki Kabushiki Kaisha Motor-driven power steering apparatus and method
US5327986A (en) * 1992-02-04 1994-07-12 Unisia Jecs Corporation Electric motor drive-type power steering system
US6009364A (en) * 1992-10-09 1999-12-28 Mitsubishi Denki Kabushiki Kaisha Power steering control apparatus for motor vehicle
US5602735A (en) * 1993-10-26 1997-02-11 Mitsubishi Denki Kabushiki Kaisha Control apparatus for motor-driven power steering system in which power suppy to an electric clutch is reduced upon detection of a malfunction
US5517415A (en) * 1994-10-26 1996-05-14 Trw Inc. Method and apparatus for detecting a motor stall condition in an electric assist steering system
US5667033A (en) * 1994-12-21 1997-09-16 Koyo Seiko Co., Ltd. Electric power steering system
US6148949A (en) * 1997-08-27 2000-11-21 Honda Giken Kogyo Kabushiki Kaisha Electric power steering apparatus
US6029767A (en) * 1997-11-18 2000-02-29 Mitsubishi Denki Kabushiki Kaisha Electric power steering system
US6694237B2 (en) 2001-08-30 2004-02-17 Mitsubishi Denki Kabushiki Kaisha Steering control device
US20040227481A1 (en) * 2003-05-12 2004-11-18 Denso Corporation Electric motor drive apparatus and motor-driven power steering system
US7164248B2 (en) 2003-05-12 2007-01-16 Denso Corporation Electric motor drive apparatus and motor-driven power steering system
US20050205345A1 (en) * 2004-02-16 2005-09-22 Denso Corporation Electric power steering device equipped with automatic steering function
CN100410122C (zh) * 2004-02-16 2008-08-13 株式会社电装 具有自动转向功能的电动转向装置
US7628247B2 (en) 2004-02-16 2009-12-08 Denso Corporation Electric power steering device equipped with automatic steering function
US8554412B2 (en) 2009-12-11 2013-10-08 Showa Corporation Electric power steering apparatus, control method thereof and program
CN102216145A (zh) * 2009-12-11 2011-10-12 株式会社昭和 电动动力转向装置、电动动力转向装置的控制方法和程序
CN102216145B (zh) * 2009-12-11 2014-10-22 株式会社昭和 电动动力转向装置和电动动力转向装置的控制方法
CN103112492A (zh) * 2013-02-02 2013-05-22 哈尔滨工业大学 一种新型电动助力转向控制装置及驱动方法
CN103112492B (zh) * 2013-02-02 2015-11-25 哈尔滨工业大学 一种电动助力转向控制装置及驱动方法
US20140343770A1 (en) * 2013-05-14 2014-11-20 Ford Global Technologies, Llc Powertrain for electric vehicles
US9776527B2 (en) * 2013-05-14 2017-10-03 Ford Global Technologies, Llc Powertrain for electric vehicles
CN112865622A (zh) * 2019-11-28 2021-05-28 佳能株式会社 电机控制装置和图像形成装置
US11846904B2 (en) 2019-11-28 2023-12-19 Canon Kabushiki Kaisha Motor control apparatus and image forming apparatus with limiting coil current flowing through motor coil
CN112865622B (zh) * 2019-11-28 2024-06-21 佳能株式会社 电机控制装置和图像形成装置

Also Published As

Publication number Publication date
JPH0651474B2 (ja) 1994-07-06
EP0325148B1 (en) 1994-05-18
DE68915292D1 (de) 1994-06-23
KR890011751A (ko) 1989-08-22
EP0325148A3 (en) 1992-10-21
KR930005855B1 (ko) 1993-06-25
JPH01186468A (ja) 1989-07-25
EP0325148A2 (en) 1989-07-26
DE68915292T2 (de) 1994-09-08

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